Foot-Ground Contact Force During Quadruped Locomotion Using CPG Control

摘要

Central Pattern Generator (CPG) is able to produce rhythmic signals without sensory feedback or any rhythmic inputs, and is becoming popular for locomotion of quadruped robots. However, due to the lack of foot-ground contact force information, the swing phase and the stance phase of control signals generated by CPG are not consistent with the actual phase of the quadruped limb, so that the dynamic performance of quadruped robots controlled by CPG is not satisfying. Therefore, in this paper, force sensor is attached on the quadruped limb to detect the real-time contact force of foot with the substrate, and the actual contact-lift state of the limb. In addition, we analyze the characteristic of ground reaction force (GRF), and the relationship between GRF and the detected foot-ground contact force. Moreover, we discuss the effect of different CPG parameters on the foot-ground contact force, so as to lay basis for improving the dynamic performance of quadruped robots.